Harmony search optimization algorithm: Application to a reconfigurable mobile robot prototype

Abstract

The terrain of the mobile robot provides the only and powerful thrust. Therefore, the optimal prototype design with respect to the terrain is important for the robot in the sandlot or soft soiled environments. In this chapter, a Harmony Search Multi-Objective Optimization (HSMOO) with constraints is proposed to the design of a reconfigurable mobile robot with respect to the terramechanics, and the optimal configuration prototype is then obtained. The actual condition shows that in the process of mobile robot design and manufacture, the HSMOO is effective to the issue of the mobile robot reconfiguration. © 2010 Springer-Verlag Berlin Heidelberg.